Time-varying encounter angle trajectory tracking control of unmanned surface vehicle based on wave modeling

In this note, a wave simulation method based on the wave spectrum is proposed, and the wave simulation is transformed into external interference to verify the necessity of using variable encounter angle real wave interference. Firstly, A wave simulation method based on wave spectrum and equidistant method is proposed and demonstrated. Secondly, wave modeling is transformed into interference force related to the encounter angle by fully considering the real marine environment. Furthermore, a trajectory tracking controller with variable encounter angles and the actual sea state is designed using the disturbance modeling method. Finally, the necessity and authenticity of considering varying encounter angles and real sea conditions in the motion control of unmanned surface vehicles (USVs) are proved by simulation.